DE102009049809B4 - Optical runtime sensor for space scanning - Google Patents
Optical runtime sensor for space scanning Download PDFInfo
- Publication number
- DE102009049809B4 DE102009049809B4 DE102009049809.5A DE102009049809A DE102009049809B4 DE 102009049809 B4 DE102009049809 B4 DE 102009049809B4 DE 102009049809 A DE102009049809 A DE 102009049809A DE 102009049809 B4 DE102009049809 B4 DE 102009049809B4
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- Germany
- Prior art keywords
- mirror
- optical
- laser
- over
- pulse
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
Optischer Laufzeitsensor zur Raumabtastung mit mindestens einem Impulslaser und mindestens einem Impulsempfänger dadurch gekennzeichnet, dass der Impulslaser und der Impulsempfänger auf ein System aus zwei fest miteinander verbundenen, nebeneinander auf einer gemeinsamen Achse angeordneten Spiegel, die zueinander senkrecht stehen, abgebildet werden und diese Anordnung über eine Lagerung aus vorwiegend Torsionsfedern zum Schwingen um die gemeinsame Achse gebracht wird und dadurch eine Szene in einer Ebene von z. B. ±30° abgetastet wird. Durch Einbau dieser Anordnung in einen Rotor ist ein Raum von z. B. 360° Azimut und 60° Elevation abtastbar.Optical time sensor for space scanning with at least one pulse laser and at least one pulse receiver, characterized in that the pulse laser and the pulse receiver on a system of two firmly interconnected, arranged side by side on a common axis mirror, which are perpendicular to each other, and this arrangement via a Storage of predominantly torsion springs is brought to oscillate about the common axis and thereby a scene in a plane of z. B. ± 30 ° is scanned. By installing this arrangement in a rotor is a space of z. B. 360 ° azimuth and 60 ° elevation scanned.
Description
Stand der TechnikState of the art
Es ist eine Reihe von Sensoren bekannt, die einen Szenenraum abtasten. Diese Sensoren sind z. B. in folgenden Schriften dargestellt:
Systeme nach
- - Die Empfangsfläche wird um die Spiegel- oder Optik-Fläche des Lasers verringert.
- - Die Rückstreuung aus der zu detektierenden Szene kommt im gleichen Raum der Senderabstrahlung zurück auf den Empfänger. Damit wird durch Rückstreuungen im Nahfeld wie z. B. Nebel und Regen oder Staub oder an der sensoreigenen Schutzscheibe der Empfänger übersteuert, wodurch Signale im Nahbereich nicht mehr detektierbar sind.
- - The receiving surface is reduced by the mirror or optics surface of the laser.
- - The backscatter from the scene to be detected comes back to the receiver in the same room of the transmitter. This is due to backscatter in the near field such. As fog and rain or dust or on the sensor's protective screen of the receiver overridden, so that signals in the vicinity are no longer detectable.
Außerdem sind Systeme beschrieben, die nur Ablenksysteme für eine Einheit, Sender oder Empfänger darstellen z. B. auch für Abstandsmessung nach dem für TriangulationsverfahrenIn addition, systems are described which represent only deflection systems for a unit, transmitter or receiver z. B. also for distance measurement after that for triangulation
Das System mit der Abtastung mit einem rotierenden Prisma oder Polygonspiegel ist durch Verringerung der Empfangsfläche und durch Verkopplung von Sende-Empfangsleistung bereits auf dem Prisma nicht geeignet und für viele Anwendungen zu voluminös und zu schwer.The scanning system with a rotating prism or polygon mirror is not suitable for the prism due to the reduction of the receiving surface and the coupling of transmitted-received power, and is too bulky and too heavy for many applications.
Alle diese Systeme haben den Nachteil, dass sie nicht sehr kompakt aufgebaut werden können und nicht gleichzeitig mehrere Wellenlängen zur Abtastung benutzbar sind.All these systems have the disadvantage that they can not be built very compact and not several wavelengths are used for scanning simultaneously.
Aufgabe der ErfindungObject of the invention
Mit der Erfindung wurde die Aufgabe gelöst mit einem einzigen System aus schwingend angeordneten Spiegeln einen weiten Abtastwinkel zu ermöglichen. Zugleich wird eine kompakte Bauweise erreicht, bei der Laser und Empfangsbaugruppen voneinander getrennt sind und bei Rotation des Systems mehrere Abtastungen pro Umdrehungen möglich sind. Zugleich können mit dem gleichen System mehrere Wellenlängen Verwendung finden.With the invention, the problem was solved with a single system of swinging mirrors to allow a wide scanning angle. At the same time, a compact design is achieved in which the laser and receiving modules are separated from each other and when scanning the system several scans per revolution are possible. At the same time, multiple wavelengths can be used with the same system.
Beschreibung der ErfindungDescription of the invention
Die Erfindung wird anhand der
Entsprechend
Dieser Spiegel ist starr mit dem Spiegel
Über den Spiegel
Die Anregung der Spiegelsysteme (
Corresponding
This mirror is rigid with the
About the
The excitation of the mirror systems (
Entsprechend
Damit kann eine Szene im Azimutwinkel von z. B. 360° und im Elevationswinkel von z. B. ± 30° leicht abgetastet werden.
Die Anregung des Spiegelsystems (
Der Laser
Der Laser
Das Anregungssystem der Spiegel
Das schwingende Spiegelsystem
Die Torsionsfeder
Zwischen den Spiegeln
This can be a scene in the azimuth angle of z. B. 360 ° and the elevation angle of z. B. ± 30 ° can be easily scanned.
Excitation of the mirror system (
The
The
The excitation system of the
The oscillating
The
Between the
In
Wie in
Werden die doppelseitig wirkenden Systeme nicht in einem Rotor eingebaut und erfolgt die Raumabtastung z. B. über Laserzeilen, so kann die zweite Seite über eine Anordnung von zwei weiteren dislozierten Spiegeln auf die gleiche Szene abgebildet werden.
Die Abstandsmessung der beschriebenen Pulslasersysteme erfolgt vorwiegend nach dem Pulslaufzeitverfahren, wie in den Schriften
As in
If the double-sided systems are not installed in a rotor and the room scanning z. B. over laser lines, the second page can be mapped to the same scene via an array of two other dislocated mirrors.
The distance measurement of the described pulse laser systems takes place predominantly according to the pulse transit time method, as in the documents
Die Auswertung der Radarsignale erfolgt nach den bekannten Verfahren, wie z. B: Pulslaufzeit, Dopplerauswertung, Frequenzmodulation, Frequenzsweep und daraus abgeleitete Kombinationen.
Durch die Kombination eines Mikrowellensystems mit geringer Raumauflösung und direkter Messung der Geschwindigkeit über die Dopplerfrequenz und dem optischen System mit hoher Ortsauflösung kann die Funktionalität des Sensors erheblich gesteigert werden.The evaluation of the radar signals is carried out according to the known methods, such as. B: pulse duration, Doppler evaluation, frequency modulation, frequency sweep and combinations derived from it.
By combining a microwave system with low spatial resolution and direct measurement of the speed over the Doppler frequency and the optical system with high spatial resolution, the functionality of the sensor can be significantly increased.
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009049809.5A DE102009049809B4 (en) | 2008-04-18 | 2009-10-16 | Optical runtime sensor for space scanning |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE102009049809.5A DE102009049809B4 (en) | 2008-04-18 | 2009-10-16 | Optical runtime sensor for space scanning |
Publications (2)
Publication Number | Publication Date |
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DE102009049809A1 DE102009049809A1 (en) | 2011-06-01 |
DE102009049809B4 true DE102009049809B4 (en) | 2019-10-10 |
Family
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Application Number | Title | Priority Date | Filing Date |
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DE102009049809.5A Expired - Fee Related DE102009049809B4 (en) | 2008-04-18 | 2009-10-16 | Optical runtime sensor for space scanning |
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DE (1) | DE102009049809B4 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202012103344U1 (en) | 2012-09-03 | 2013-12-05 | Sick Ag | Safety light scanner |
EP2703837B1 (en) | 2012-09-03 | 2014-07-16 | Sick Ag | Safety laser scanner |
JP6260019B2 (en) * | 2012-11-09 | 2018-01-17 | 北陽電機株式会社 | Metal elastic member, micro mechanical device, manufacturing method of micro mechanical device, swing control device, and swing control method |
JP6069628B2 (en) * | 2012-12-03 | 2017-02-01 | 北陽電機株式会社 | Deflection device, optical scanning device, and scanning distance measuring device |
DE102013206929B4 (en) | 2013-04-17 | 2016-02-18 | Sick Ag | Image capture system |
DE102014100245B3 (en) * | 2014-01-10 | 2014-11-20 | Sick Ag | Optoelectronic sensor and method for detecting objects in a surveillance area |
JP6724663B2 (en) * | 2016-09-01 | 2020-07-15 | 船井電機株式会社 | Scanner mirror |
JP7066982B2 (en) * | 2017-05-30 | 2022-05-16 | 船井電機株式会社 | Optical scanning device |
DE102017220395A1 (en) * | 2017-11-15 | 2019-05-16 | Osram Gmbh | DISTANCE MEASURING DEVICE |
Citations (14)
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DE101668C (en) * | ||||
DE3634724A1 (en) | 1986-10-11 | 1988-04-28 | Wolfgang Brunk | METHOD AND DEVICE FOR CONTACTLESS OPTICAL MEASUREMENT OF TRAILS, ESPECIALLY IN THE TRIANGULATION METHOD |
DE4127168C2 (en) | 1991-08-16 | 1994-07-07 | Spies Martin J Dipl Ing Fh | Signal processing for distance measurement |
US5337189A (en) | 1992-05-13 | 1994-08-09 | Aerospatiale Societe Nationale Industrielle | Scannig emitter-receiver optical device |
DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE10105774A1 (en) | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10114362C2 (en) | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
DE102004033928A1 (en) | 2004-07-14 | 2006-02-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Scanning device for measuring the contours of an object |
DE102004014041B4 (en) | 2004-03-19 | 2006-04-06 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
US20070150227A1 (en) * | 2003-10-27 | 2007-06-28 | Ryohei Shigematsu | Angle detecting apparatus and scanning-type actuator using the angle detecting apparatus |
DE102005055572B4 (en) | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
DE102006045799A1 (en) | 2006-09-26 | 2008-04-10 | Hans Spies | Scanning laser distance sensor has laser diode that is driven by pulse driver directly such that electrical connection to mechanically driven carrier is unnecessary |
DE102006049935A1 (en) | 2006-10-19 | 2008-04-24 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse running time sensor, has signals of transmitter digitized with analog/digital converter and/or threshold unit, and signal evaluation logic evaluating signals in same clock pulse of digitization, and outputs stored into assigned memory |
-
2009
- 2009-10-16 DE DE102009049809.5A patent/DE102009049809B4/en not_active Expired - Fee Related
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE101668C (en) * | ||||
DE3634724A1 (en) | 1986-10-11 | 1988-04-28 | Wolfgang Brunk | METHOD AND DEVICE FOR CONTACTLESS OPTICAL MEASUREMENT OF TRAILS, ESPECIALLY IN THE TRIANGULATION METHOD |
DE4127168C2 (en) | 1991-08-16 | 1994-07-07 | Spies Martin J Dipl Ing Fh | Signal processing for distance measurement |
US5337189A (en) | 1992-05-13 | 1994-08-09 | Aerospatiale Societe Nationale Industrielle | Scannig emitter-receiver optical device |
DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE10105774A1 (en) | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10114362C2 (en) | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
US20070150227A1 (en) * | 2003-10-27 | 2007-06-28 | Ryohei Shigematsu | Angle detecting apparatus and scanning-type actuator using the angle detecting apparatus |
DE102004014041B4 (en) | 2004-03-19 | 2006-04-06 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
DE102004033928A1 (en) | 2004-07-14 | 2006-02-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Scanning device for measuring the contours of an object |
DE102005055572B4 (en) | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
DE102006045799A1 (en) | 2006-09-26 | 2008-04-10 | Hans Spies | Scanning laser distance sensor has laser diode that is driven by pulse driver directly such that electrical connection to mechanically driven carrier is unnecessary |
DE102006049935A1 (en) | 2006-10-19 | 2008-04-24 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse running time sensor, has signals of transmitter digitized with analog/digital converter and/or threshold unit, and signal evaluation logic evaluating signals in same clock pulse of digitization, and outputs stored into assigned memory |
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DE102009049809A1 (en) | 2011-06-01 |
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